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Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body.

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Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape.
Implement PyBullet.getCollisionShapeData
Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!)
Extend PyBullet.getJointInfo: add parentIndex
This commit is contained in:
Erwin Coumans
2018-01-03 19:17:28 -08:00
parent a1492f50fc
commit 79d78a325a
16 changed files with 858 additions and 45 deletions
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187
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6237,6 +6237,29 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getBaseInertia()[1];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = mb->getBaseInertia()[2];
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
serverCmd.m_dynamicsInfo.m_localInertialFrame[0] = body->m_rootLocalInertialFrame.getOrigin()[0];
serverCmd.m_dynamicsInfo.m_localInertialFrame[1] = body->m_rootLocalInertialFrame.getOrigin()[1];
serverCmd.m_dynamicsInfo.m_localInertialFrame[2] = body->m_rootLocalInertialFrame.getOrigin()[2];
serverCmd.m_dynamicsInfo.m_localInertialFrame[3] = body->m_rootLocalInertialFrame.getRotation()[0];
serverCmd.m_dynamicsInfo.m_localInertialFrame[4] = body->m_rootLocalInertialFrame.getRotation()[1];
serverCmd.m_dynamicsInfo.m_localInertialFrame[5] = body->m_rootLocalInertialFrame.getRotation()[2];
serverCmd.m_dynamicsInfo.m_localInertialFrame[6] = body->m_rootLocalInertialFrame.getRotation()[3];
serverCmd.m_dynamicsInfo.m_restitution = mb->getBaseCollider()->getRestitution();
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = mb->getBaseCollider()->getRollingFriction();
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = mb->getBaseCollider()->getSpinningFriction();
if (mb->getBaseCollider()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING)
{
serverCmd.m_dynamicsInfo.m_contactStiffness = mb->getBaseCollider()->getContactStiffness();
serverCmd.m_dynamicsInfo.m_contactDamping = mb->getBaseCollider()->getContactDamping();
}
else
{
serverCmd.m_dynamicsInfo.m_contactStiffness = -1;
serverCmd.m_dynamicsInfo.m_contactDamping = -1;
}
}
else
{
@@ -6245,9 +6268,31 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getLinkInertia(linkIndex)[1];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = mb->getLinkInertia(linkIndex)[2];
serverCmd.m_dynamicsInfo.m_localInertialFrame[0] = body->m_linkLocalInertialFrames[linkIndex].getOrigin()[0];
serverCmd.m_dynamicsInfo.m_localInertialFrame[1] = body->m_linkLocalInertialFrames[linkIndex].getOrigin()[1];
serverCmd.m_dynamicsInfo.m_localInertialFrame[2] = body->m_linkLocalInertialFrames[linkIndex].getOrigin()[2];
serverCmd.m_dynamicsInfo.m_localInertialFrame[3] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[0];
serverCmd.m_dynamicsInfo.m_localInertialFrame[4] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[1];
serverCmd.m_dynamicsInfo.m_localInertialFrame[5] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[2];
serverCmd.m_dynamicsInfo.m_localInertialFrame[6] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[3];
if (mb->getLinkCollider(linkIndex))
{
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
serverCmd.m_dynamicsInfo.m_restitution = mb->getLinkCollider(linkIndex)->getRestitution();
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = mb->getLinkCollider(linkIndex)->getRollingFriction();
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = mb->getLinkCollider(linkIndex)->getSpinningFriction();
if (mb->getLinkCollider(linkIndex)->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING)
{
serverCmd.m_dynamicsInfo.m_contactStiffness = mb->getLinkCollider(linkIndex)->getContactStiffness();
serverCmd.m_dynamicsInfo.m_contactDamping = mb->getLinkCollider(linkIndex)->getContactDamping();
}
else
{
serverCmd.m_dynamicsInfo.m_contactStiffness = -1;
serverCmd.m_dynamicsInfo.m_contactDamping = -1;
}
}
else
{
@@ -7967,7 +8012,144 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(con
return hasStatus;
}
// PyModule_AddIntConstant(m, "GEOM_SPHERE", GEOM_SPHERE);
// PyModule_AddIntConstant(m, "GEOM_BOX", GEOM_BOX);
// PyModule_AddIntConstant(m, "GEOM_CYLINDER", GEOM_CYLINDER);
// PyModule_AddIntConstant(m, "GEOM_MESH", GEOM_MESH);
// PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE);
// PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape* colShape, const btTransform& transform, b3CollisionShapeData* collisionShapeBuffer, int maxCollisionShapes)
{
if (maxCollisionShapes <= 0)
{
b3Warning("No space in buffer");
return 0;
}
int numConverted = 0;
collisionShapeBuffer[0].m_localCollisionFrame[0] = transform.getOrigin()[0];
collisionShapeBuffer[0].m_localCollisionFrame[1] = transform.getOrigin()[1];
collisionShapeBuffer[0].m_localCollisionFrame[2] = transform.getOrigin()[2];
collisionShapeBuffer[0].m_localCollisionFrame[3] = transform.getRotation()[0];
collisionShapeBuffer[0].m_localCollisionFrame[4] = transform.getRotation()[1];
collisionShapeBuffer[0].m_localCollisionFrame[5] = transform.getRotation()[2];
collisionShapeBuffer[0].m_localCollisionFrame[6] = transform.getRotation()[3];
collisionShapeBuffer[0].m_meshAssetFileName[0] = 0;
switch (colShape->getShapeType())
{
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_MESH;
sprintf( collisionShapeBuffer[0].m_meshAssetFileName, "unknown_file");
collisionShapeBuffer[0].m_dimensions[0] = 1;
collisionShapeBuffer[0].m_dimensions[1] = 1;
collisionShapeBuffer[0].m_dimensions[2] = 1;
numConverted++;
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShapeZ* cyl = (btCylinderShapeZ*)colShape;
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_CYLINDER;
collisionShapeBuffer[0].m_dimensions[0] = 2.*cyl->getHalfExtentsWithMargin().getZ();
collisionShapeBuffer[0].m_dimensions[1] = cyl->getHalfExtentsWithMargin().getX();
collisionShapeBuffer[0].m_dimensions[2] = 0;
numConverted++;
break;
}
case BOX_SHAPE_PROXYTYPE:
{
btBoxShape* box = (btBoxShape*)colShape;
btVector3 halfExtents = box->getHalfExtentsWithMargin();
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_BOX;
collisionShapeBuffer[0].m_dimensions[0] = 2.*halfExtents[0];
collisionShapeBuffer[0].m_dimensions[1] = 2.*halfExtents[1];
collisionShapeBuffer[0].m_dimensions[2] = 2.*halfExtents[2];
numConverted++;
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
btSphereShape* sphere = (btSphereShape*)colShape;
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_SPHERE;
collisionShapeBuffer[0].m_dimensions[0] = sphere->getRadius();
collisionShapeBuffer[0].m_dimensions[1] = sphere->getRadius();
collisionShapeBuffer[0].m_dimensions[2] = sphere->getRadius();
numConverted++;
break;
}
case COMPOUND_SHAPE_PROXYTYPE:
{
//recurse, accumulate childTransform
btCompoundShape* compound = (btCompoundShape*)colShape;
for (int i = 0; i < compound->getNumChildShapes(); i++)
{
btTransform childTrans = transform*compound->getChildTransform(i);
int remain = maxCollisionShapes - numConverted;
int converted = extractCollisionShapes(compound->getChildShape(i), childTrans, &collisionShapeBuffer[numConverted], remain);
numConverted += converted;
}
break;
}
default:
{
b3Warning("Unexpected collision shape type in PhysicsServerCommandProcessor::extractCollisionShapes");
}
};
return numConverted;
}
bool PhysicsServerCommandProcessor::processRequestCollisionShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_COLLISION_SHAPE_INFO");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_FAILED;
int bodyUniqueId = clientCmd.m_requestCollisionShapeDataArguments.m_bodyUniqueId;
int linkIndex = clientCmd.m_requestCollisionShapeDataArguments.m_linkIndex;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (bodyHandle)
{
if (bodyHandle->m_multiBody)
{
b3CollisionShapeData* collisionShapeStoragePtr = (b3CollisionShapeData*)bufferServerToClient;
int totalBytesPerObject = sizeof(b3CollisionShapeData);
int maxNumColObjects = bufferSizeInBytes / totalBytesPerObject - 1;
btTransform childTrans;
childTrans.setIdentity();
serverCmd.m_sendCollisionShapeArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendCollisionShapeArgs.m_linkIndex = linkIndex;
if (linkIndex == -1)
{
if (bodyHandle->m_multiBody->getBaseCollider())
{
//extract shape info from base collider
int numConvertedCollisionShapes = extractCollisionShapes(bodyHandle->m_multiBody->getBaseCollider()->getCollisionShape(), childTrans, collisionShapeStoragePtr, maxNumColObjects);
serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes = numConvertedCollisionShapes;
serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_COMPLETED;
}
}
else
{
if (linkIndex >= 0 && linkIndex < bodyHandle->m_multiBody->getNumLinks() && bodyHandle->m_multiBody->getLinkCollider(linkIndex))
{
int numConvertedCollisionShapes = extractCollisionShapes(bodyHandle->m_multiBody->getLinkCollider(linkIndex)->getCollisionShape(), childTrans, collisionShapeStoragePtr, maxNumColObjects);
serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes = numConvertedCollisionShapes;
serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_COMPLETED;
}
}
}
}
return hasStatus;
}
bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@@ -8677,6 +8859,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processRequestVisualShapeInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_COLLISION_SHAPE_INFO:
{
hasStatus = processRequestCollisionShapeInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_UPDATE_VISUAL_SHAPE:
{
hasStatus = processUpdateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);